alpais / bimanual-task-motion-planning Goto Github PK

This repository includes the packages and instructions to run the LASA Bimanual Motion planning architecture developed initially for a bimanual zucchini peeling task within the Robohow project, but can be used for any bimanual task which invloves coordination between two end-effectors and controlling for a desired cartesian pose/ft/stiffness.

OS: Ubuntu 14.04 ROS compatibility: Indigo

###Real-time Execution of Bi-manual reaching motions: #####Stream Robot data (joint states, Pose, FT, Stiff)

$ rosrun kuka_fri_bridge run_lwr.sh right

$ rosrun kuka_fri_bridge run_lwr.sh left

follow instructions on kuka_bridge to set control mode for each robot. (joint impedance control, control = 1)

$ roslaunch kuka_lwr_bringup bimanual2_realtime.launch ft_sensors:=true

Cartesian-to-Joint/Joint-to-Cart Estimation

$ roslaunch state_transformers bimanual_joint_ctrls_real.launch 

A bimanual action server, containing different types of control methods for bimanual actions, currently:

• Coupled CDS for each arm. The models can be found in bimanual-task-models and they are task and action specific.
• Virtual Object Dynamical System (spatial and temporal coupling)

$ roslaunch bimanual_motion_planner peeling_bimanual_action_server.launch

To run a test with two CDS models independently for each arm:

$ rosrun bimanual_action_planners uncoupled_test.py

To run a test with the Virtual Object Dynamical System:

$ rosrun bimanual_action_planners virtual_object_test.py

To run the peeling task demo:

$ rosrun bimanual_action_planners peeling_demo.py

You will need the whole Perception Module for detecting the Zucchini and computing its observable features.

• Follow the instructions in kinect-process-scene

$ roslaunch kuka_lwr_bringup bimanual2_simulation.launch

Cartesian-to-Joint/Joint-to-Cart Estimation

$ roslaunch state_transformers bimanual_joint_ctrls_sim.launch 

Bimanual Action Server with same action types as real-time.

$ roslaunch bimanual_motion_planner bimanual_action_server.launch simulation:=true

• same as realtime

To record/replay demonstrations you must install these packages:

$ rosrun kuka_fri_bridge run_lwr.sh right

$ rosrun kuka_fri_bridge run_lwr.sh left

$ roslaunch kuka_lwr_bringup bimanual2_realtime.launch ft_sensors:=true vision:=true 

$ roslaunch bimanual_action_planners record_bimanual_demos.launch 

$ rosservice call /record/cmd "cmd: 'record/stop'"

$ roslaunch kuka_lwr_bringup bimanual2_realtime.launch ft_sensors:=true not_bag:=false 

$ rosbag play *.bag

Use my-matlab-rosbag